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Researcher profile

Zhuang Liu

Zhuang Liu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionMachine LearningComputation and Languagecond-mat.mtrl-sciArtificial IntelligenceBiological Physicscond-mat.softeess.IVInformation Retrievalphysics.chem-phRoboticsTissues and Organs

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Published work

15 published item(s)

preprint2026arXiv

World Model for Robot Learning: A Comprehensive Survey

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have advanced rapidly with the rise of foundation models and large-scale video generation. However, the literature remains fragmented across architectures, functional roles, and embodied application domains. To address this gap, we present a comprehensive review of world models from a robot-learning perspective. We examine how world models are coupled with robot policies, how they serve as learned simulators for reinforcement learning and evaluation, and how robotic video world models have progressed from imagination-based generation to controllable, structured, and foundation-scale formulations. We further connect these ideas to navigation and autonomous driving, and summarize representative datasets, benchmarks, and evaluation protocols. Overall, this survey systematically reviews the rapidly growing literature on world models for robot learning, clarifies key paradigms and applications, and highlights major challenges and future directions for predictive modeling in embodied agents. To facilitate continued access to newly emerging works, benchmarks, and resources, we will maintain and regularly update the accompanying GitHub repository alongside this survey.

0 citations0 reviewsNo code linkedOpen access
preprint2025arXiv

Tuneable ion selectivity in vermiculite membranes intercalated with unexchangeable ions

Membranes selective to ions of the same charge are increasingly sought for wastewater processing and valuable element recovery. However, while narrow channels are known to be essential, other membrane parameters remain difficult to identify and control. Here we show that Zr$^{4+}$, Sn$^{4+}$, Ir$^{4+}$, and La$^{3+}$ ions intercalated into vermiculite laminate membranes become effectively unexchangeable, creating stable channels, one to two water layers wide, that exhibit robust and tuneable ion selectivity. Ion permeability in these membranes spans five orders of magnitude, following a trend dictated by the ions' Gibbs free energy of hydration. Unexpectedly, different intercalated ions lead to two distinct monovalent ion selectivity sequences, despite producing channels of identical width. The selectivity instead correlates with the membranes' stiffness and the entropy of hydration of the intercalated ions. These results introduce a new ion selectivity mechanism driven by entropic and mechanical effects, beyond classical size and charge exclusion.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

ConvNeXt V2: Co-designing and Scaling ConvNets with Masked Autoencoders

Driven by improved architectures and better representation learning frameworks, the field of visual recognition has enjoyed rapid modernization and performance boost in the early 2020s. For example, modern ConvNets, represented by ConvNeXt, have demonstrated strong performance in various scenarios. While these models were originally designed for supervised learning with ImageNet labels, they can also potentially benefit from self-supervised learning techniques such as masked autoencoders (MAE). However, we found that simply combining these two approaches leads to subpar performance. In this paper, we propose a fully convolutional masked autoencoder framework and a new Global Response Normalization (GRN) layer that can be added to the ConvNeXt architecture to enhance inter-channel feature competition. This co-design of self-supervised learning techniques and architectural improvement results in a new model family called ConvNeXt V2, which significantly improves the performance of pure ConvNets on various recognition benchmarks, including ImageNet classification, COCO detection, and ADE20K segmentation. We also provide pre-trained ConvNeXt V2 models of various sizes, ranging from an efficient 3.7M-parameter Atto model with 76.7% top-1 accuracy on ImageNet, to a 650M Huge model that achieves a state-of-the-art 88.9% accuracy using only public training data.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

A ConvNet for the 2020s

The "Roaring 20s" of visual recognition began with the introduction of Vision Transformers (ViTs), which quickly superseded ConvNets as the state-of-the-art image classification model. A vanilla ViT, on the other hand, faces difficulties when applied to general computer vision tasks such as object detection and semantic segmentation. It is the hierarchical Transformers (e.g., Swin Transformers) that reintroduced several ConvNet priors, making Transformers practically viable as a generic vision backbone and demonstrating remarkable performance on a wide variety of vision tasks. However, the effectiveness of such hybrid approaches is still largely credited to the intrinsic superiority of Transformers, rather than the inherent inductive biases of convolutions. In this work, we reexamine the design spaces and test the limits of what a pure ConvNet can achieve. We gradually "modernize" a standard ResNet toward the design of a vision Transformer, and discover several key components that contribute to the performance difference along the way. The outcome of this exploration is a family of pure ConvNet models dubbed ConvNeXt. Constructed entirely from standard ConvNet modules, ConvNeXts compete favorably with Transformers in terms of accuracy and scalability, achieving 87.8% ImageNet top-1 accuracy and outperforming Swin Transformers on COCO detection and ADE20K segmentation, while maintaining the simplicity and efficiency of standard ConvNets.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Anytime Dense Prediction with Confidence Adaptivity

Anytime inference requires a model to make a progression of predictions which might be halted at any time. Prior research on anytime visual recognition has mostly focused on image classification. We propose the first unified and end-to-end approach for anytime dense prediction. A cascade of "exits" is attached to the model to make multiple predictions. We redesign the exits to account for the depth and spatial resolution of the features for each exit. To reduce total computation, and make full use of prior predictions, we develop a novel spatially adaptive approach to avoid further computation on regions where early predictions are already sufficiently confident. Our full method, named anytime dense prediction with confidence (ADP-C), achieves the same level of final accuracy as the base model, and meanwhile significantly reduces total computation. We evaluate our method on Cityscapes semantic segmentation and MPII human pose estimation: ADP-C enables anytime inference without sacrificing accuracy while also reducing the total FLOPs of its base models by 44.4% and 59.1%. We compare with anytime inference by deep equilibrium networks and feature-based stochastic sampling, showing that ADP-C dominates both across the accuracy-computation curve. Our code is available at https://github.com/liuzhuang13/anytime .

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Exploring Simple and Transferable Recognition-Aware Image Processing

Recent progress in image recognition has stimulated the deployment of vision systems at an unprecedented scale. As a result, visual data are now often consumed not only by humans but also by machines. Existing image processing methods only optimize for better human perception, yet the resulting images may not be accurately recognized by machines. This can be undesirable, e.g., the images can be improperly handled by search engines or recommendation systems. In this work, we examine simple approaches to improve machine recognition of processed images: optimizing the recognition loss directly on the image processing network or through an intermediate input transformation model. Interestingly, the processing model's ability to enhance recognition quality can transfer when evaluated on models of different architectures, recognized categories, tasks and training datasets. This makes the methods applicable even when we do not have the knowledge of future recognition models, e.g., when uploading processed images to the Internet. We conduct experiments on multiple image processing tasks paired with ImageNet classification and PASCAL VOC detection as recognition tasks. With these simple yet effective methods, substantial accuracy gain can be achieved with strong transferability and minimal image quality loss. Through a user study we further show that the accuracy gain can transfer to a black-box cloud model. Finally, we try to explain this transferability phenomenon by demonstrating the similarities of different models' decision boundaries. Code is available at https://github.com/liuzhuang13/Transferable_RA .

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Un-Mix: Rethinking Image Mixtures for Unsupervised Visual Representation Learning

The recently advanced unsupervised learning approaches use the siamese-like framework to compare two "views" from the same image for learning representations. Making the two views distinctive is a core to guarantee that unsupervised methods can learn meaningful information. However, such frameworks are sometimes fragile on overfitting if the augmentations used for generating two views are not strong enough, causing the over-confident issue on the training data. This drawback hinders the model from learning subtle variance and fine-grained information. To address this, in this work we aim to involve the distance concept on label space in the unsupervised learning and let the model be aware of the soft degree of similarity between positive or negative pairs through mixing the input data space, to further work collaboratively for the input and loss spaces. Despite its conceptual simplicity, we show empirically that with the solution -- Unsupervised image mixtures (Un-Mix), we can learn subtler, more robust and generalized representations from the transformed input and corresponding new label space. Extensive experiments are conducted on CIFAR-10, CIFAR-100, STL-10, Tiny ImageNet and standard ImageNet with popular unsupervised methods SimCLR, BYOL, MoCo V1&V2, SwAV, etc. Our proposed image mixture and label assignment strategy can obtain consistent improvement by 1~3% following exactly the same hyperparameters and training procedures of the base methods. Code is publicly available at https://github.com/szq0214/Un-Mix.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Vision Transformer Slimming: Multi-Dimension Searching in Continuous Optimization Space

This paper explores the feasibility of finding an optimal sub-model from a vision transformer and introduces a pure vision transformer slimming (ViT-Slim) framework. It can search a sub-structure from the original model end-to-end across multiple dimensions, including the input tokens, MHSA and MLP modules with state-of-the-art performance. Our method is based on a learnable and unified $\ell_1$ sparsity constraint with pre-defined factors to reflect the global importance in the continuous searching space of different dimensions. The searching process is highly efficient through a single-shot training scheme. For instance, on DeiT-S, ViT-Slim only takes ~43 GPU hours for the searching process, and the searched structure is flexible with diverse dimensionalities in different modules. Then, a budget threshold is employed according to the requirements of accuracy-FLOPs trade-off on running devices, and a re-training process is performed to obtain the final model. The extensive experiments show that our ViT-Slim can compress up to 40% of parameters and 40% FLOPs on various vision transformers while increasing the accuracy by ~0.6% on ImageNet. We also demonstrate the advantage of our searched models on several downstream datasets. Our code is available at https://github.com/Arnav0400/ViT-Slim.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Contrastive Learning for Recommender System

Recommender systems, which analyze users' preference patterns to suggest potential targets, are indispensable in today's society. Collaborative Filtering (CF) is the most popular recommendation model. Specifically, Graph Neural Network (GNN) has become a new state-of-the-art for CF. In the GNN-based recommender system, message dropout is usually used to alleviate the selection bias in the user-item bipartite graph. However, message dropout might deteriorate the recommender system's performance due to the randomness of dropping out the outgoing messages based on the user-item bipartite graph. To solve this problem, we propose a graph contrastive learning module for a general recommender system that learns the embeddings in a self-supervised manner and reduces the randomness of message dropout. Besides, many recommender systems optimize models with pairwise ranking objectives, such as the Bayesian Pairwise Ranking (BPR) based on a negative sampling strategy. However, BPR has the following problems: suboptimal sampling and sample bias. We introduce a new debiased contrastive loss to solve these problems, which provides sufficient negative samples and applies a bias correction probability to alleviate the sample bias. We integrate the proposed framework, including graph contrastive module and debiased contrastive module with several Matrix Factorization(MF) and GNN-based recommendation models. Experimental results on three public benchmarks demonstrate the effectiveness of our framework.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Chemical-induced Disease Relation Extraction with Dependency Information and Prior Knowledge

Chemical-disease relation (CDR) extraction is significantly important to various areas of biomedical research and health care. Nowadays, many large-scale biomedical knowledge bases (KBs) containing triples about entity pairs and their relations have been built. KBs are important resources for biomedical relation extraction. However, previous research pays little attention to prior knowledge. In addition, the dependency tree contains important syntactic and semantic information, which helps to improve relation extraction. So how to effectively use it is also worth studying. In this paper, we propose a novel convolutional attention network (CAN) for CDR extraction. Firstly, we extract the shortest dependency path (SDP) between chemical and disease pairs in a sentence, which includes a sequence of words, dependency directions, and dependency relation tags. Then the convolution operations are performed on the SDP to produce deep semantic dependency features. After that, an attention mechanism is employed to learn the importance/weight of each semantic dependency vector related to knowledge representations learned from KBs. Finally, in order to combine dependency information and prior knowledge, the concatenation of weighted semantic dependency representations and knowledge representations is fed to the softmax layer for classification. Experiments on the BioCreative V CDR dataset show that our method achieves comparable performance with the state-of-the-art systems, and both dependency information and prior knowledge play important roles in CDR extraction task.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Convolutional Networks with Dense Connectivity

Recent work has shown that convolutional networks can be substantially deeper, more accurate, and efficient to train if they contain shorter connections between layers close to the input and those close to the output. In this paper, we embrace this observation and introduce the Dense Convolutional Network (DenseNet), which connects each layer to every other layer in a feed-forward fashion.Whereas traditional convolutional networks with L layers have L connections - one between each layer and its subsequent layer - our network has L(L+1)/2 direct connections. For each layer, the feature-maps of all preceding layers are used as inputs, and its own feature-maps are used as inputs into all subsequent layers. DenseNets have several compelling advantages: they alleviate the vanishing-gradient problem, encourage feature reuse and substantially improve parameter efficiency. We evaluate our proposed architecture on four highly competitive object recognition benchmark tasks (CIFAR-10, CIFAR-100, SVHN, and ImageNet). DenseNets obtain significant improvements over the state-of-the-art on most of them, whilst requiring less parameters and computation to achieve high performance.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Few Sample Knowledge Distillation for Efficient Network Compression

Deep neural network compression techniques such as pruning and weight tensor decomposition usually require fine-tuning to recover the prediction accuracy when the compression ratio is high. However, conventional fine-tuning suffers from the requirement of a large training set and the time-consuming training procedure. This paper proposes a novel solution for knowledge distillation from label-free few samples to realize both data efficiency and training/processing efficiency. We treat the original network as "teacher-net" and the compressed network as "student-net". A 1x1 convolution layer is added at the end of each layer block of the student-net, and we fit the block-level outputs of the student-net to the teacher-net by estimating the parameters of the added layers. We prove that the added layer can be merged without adding extra parameters and computation cost during inference. Experiments on multiple datasets and network architectures verify the method's effectiveness on student-nets obtained by various network pruning and weight decomposition methods. Our method can recover student-net's accuracy to the same level as conventional fine-tuning methods in minutes while using only 1% label-free data of the full training data.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Leveraging Prior Knowledge for Protein-Protein Interaction Extraction with Memory Network

Automatically extracting Protein-Protein Interactions (PPI) from biomedical literature provides additional support for precision medicine efforts. This paper proposes a novel memory network-based model (MNM) for PPI extraction, which leverages prior knowledge about protein-protein pairs with memory networks. The proposed MNM captures important context clues related to knowledge representations learned from knowledge bases. Both entity embeddings and relation embeddings of prior knowledge are effective in improving the PPI extraction model, leading to a new state-of-the-art performance on the BioCreative VI PPI dataset. The paper also shows that multiple computational layers over an external memory are superior to long short-term memory networks with the local memories.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Test-Time Training with Self-Supervision for Generalization under Distribution Shifts

In this paper, we propose Test-Time Training, a general approach for improving the performance of predictive models when training and test data come from different distributions. We turn a single unlabeled test sample into a self-supervised learning problem, on which we update the model parameters before making a prediction. This also extends naturally to data in an online stream. Our simple approach leads to improvements on diverse image classification benchmarks aimed at evaluating robustness to distribution shifts.

0 citations0 reviewsNo code linkedOpen access
preprint2010arXiv

Multiplexed five-color molecular imaging of cancer cells and tumor tissues with carbon nanotube Raman tags in the near-infrared

Single-walled carbon nanotubes (SWNTs) with five different C13/C12 isotope compositions and well-separated Raman peaks have been synthesized and conjugated to five targeting ligands in order to impart molecular specificity. Multiplexed Raman imaging of live cells has been carried out by highly specific staining of cells with a five-color mixture of SWNTs. Ex vivo multiplexed Raman imaging of tumor samples uncovers a surprising up-regulation of epidermal growth factor receptor (EGFR) on LS174T colon cancer cells from cell culture to in vivo tumor growth. This is the first time five-color multiplexed molecular imaging has been performed in the near-infrared (NIR) region under a single laser excitation. Near zero interfering background of imaging is achieved due to the sharp Raman peaks unique to nanotubes over the low, smooth autofluorescence background of biological species.

0 citations0 reviewsNo code linkedOpen access